相关论文: Finding Outliers in a Haystack: Anomaly Detection …

Multi-beam LiDAR sensors, as used on autonomous vehicles and mobile robots, acquire sequences of 3D range scans ("frames"). Each frame covers the scene sparsely, due to limited angular scanning resolution and occlusion. The sparsity…

An outlier is an observation or a data point that is far from rest of the data points in a given dataset or we can be said that an outlier is away from the center of mass of observations. Presence of outliers can skew statistical measures…

World models, which simulate environmental dynamics and generate sensor observations, are gaining increasing attention in autonomous driving. However, progress in LiDAR-based world models has lagged behind those built on camera videos or…

A machine-learning-based method is developed to identify objects with unusual stellar spectra. The method employs an autoencoder, a neural network trained to compress spectral data into a low-dimensional representation and subsequently…

State-space models (SSMs), exemplified by S4, have introduced a novel context modeling method by integrating state-space techniques into deep learning. However, they struggle with global context modeling due to their data-independent…

Out-of-Distribution (OOD) detection is a critical task that has garnered significant attention. The emergence of CLIP has spurred extensive research into zero-shot OOD detection, often employing a training-free approach. Current methods…

While 3D object detection in LiDAR point clouds is well-established in academia and industry, the explainability of these models is a largely unexplored field. In this paper, we propose a method to generate attribution maps for the detected…

Real data often contain anomalous cases, also known as outliers. These may spoil the resulting analysis but they may also contain valuable information. In either case, the ability to detect such anomalies is essential. A useful tool for…

Despite the importance of unsupervised object detection, to the best of our knowledge, there is no previous work addressing this problem. One main issue, widely known to the community, is that object boundaries derived only from 2D image…

The light detection and ranging (LiDAR) technology allows to sense surrounding objects with fine-grained resolution in a large areas. Their data (aka point clouds), generated continuously at very high rates, can provide information to…

For an autonomous vehicle, the ability to sense its surroundings and to build an overall representation of the environment by fusing different sensor data streams is fundamental. To this end, the poses of all sensors need to be accurately…

Anomalies are samples that significantly deviate from the rest of the data and their detection plays a major role in building machine learning models that can be reliably used in applications such as data-driven design and novelty…

Recent advancements in state space models, notably Mamba, have demonstrated significant progress in modeling long sequences for tasks like language understanding. Yet, their application in vision tasks has not markedly surpassed the…

Autonomous vehicles that navigate in open-world environments may encounter previously unseen object classes. However, most existing LiDAR panoptic segmentation models rely on closed-set assumptions, failing to detect unknown object…

Outlier recognition is a fundamental problem in data analysis and has attracted a great deal of attention in the past decades. However, most existing methods still suffer from several issues such as high time and space complexities or…

Multicategory remote object counting is a fundamental task in computer vision, aimed at accurately estimating the number of objects of various categories in remote images. Existing methods rely on CNNs and Transformers, but CNNs struggle to…

The 3D object detection capabilities in urban environments have been enormously improved by recent developments in Light Detection and Range (LiDAR) technology. This paper presents a novel framework that transforms the detection and…

Rare data in a large-scale database are called outliers that reveal significant information in the real world. The subspace-based outlier detection is regarded as a feasible approach in very high dimensional space. However, the outliers…

Real-time object detection is a fundamental but challenging task in computer vision, particularly when computational resources are limited. Although YOLO-series models have set strong benchmarks by balancing speed and accuracy, the…

To operate safely, autonomous vehicles (AVs) need to detect and handle unexpected objects or anomalies on the road. While significant research exists for anomaly detection and segmentation in 2D, research progress in 3D is underexplored.…